Lines to Planes Registration

Ales Jelinek, Adam Ligocki

Abstract

This paper deals with the Line-Plane registration problem. First we introduce the matter of geometrical object fitting and show the specificity of the Line-Plane combination. Then the method is derived to fulfil all usual demands we put on a registration algorithm. Our algorithm works on any number of corresponding Line-Plane pairs higher than three, providing more accurate results and better convergence, as this number gets higher. Although the computation is non-linear by its nature, benefits of the least squares optimization were preserved. The algorithm is divided into a linear part dependant on the amount of input data and a non-linear part, which is not, keeping efficiency in case of large data sets. All important features were experimentally tested and proved to work.

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Paper Citation


in Harvard Style

Jelinek A. and Ligocki A. (2019). Lines to Planes Registration.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-380-3, pages 625-632. DOI: 10.5220/0007834906250632


in Bibtex Style

@conference{icinco19,
author={Ales Jelinek and Adam Ligocki},
title={Lines to Planes Registration},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2019},
pages={625-632},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007834906250632},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Lines to Planes Registration
SN - 978-989-758-380-3
AU - Jelinek A.
AU - Ligocki A.
PY - 2019
SP - 625
EP - 632
DO - 10.5220/0007834906250632